“I have a responsibility to do what’s best for our football team," Joseph said. "Although this wasn’t an easy decision, we needed to make this change. We have to play a more efficient brand of football offensively as we begin the final stretch of our season."

Musgrave is in his first season with the Broncos, having spent the past two seasons as the Oakland Raiders' offensive coordinator.

Musgrave played for the Broncos from 1995 to 1997 as a backup to quarterback John Elway. He is a graduate of Grand Junction High School.

“Mike is an outstanding coach and a great person," Joseph said. "He had a lot of opportunities this offseason, and he chose us. I have the utmost respect for Mike and wish him all the best in the future.”

The Broncos started 3-1 but have dropped to the AFC West cellar during their longest losing streak in 27 years.

The Broncos are 24th in the league in scoring offense at 18.3 points a game, including a paltry 14.2 points during the losing streak.

The offense has struggled all season, starting with Trevor Siemian at quarterback before he was benched and replaced by Brock Osweiler. Broncos quarterbacks have a 72.3 rating, second-worst in the NFL.

“I’m disappointed that things didn’t work out because this is a special organization and a great place to be," McCoy said.

The team might switch to Paxton Lynch for Sunday's game against the Raiders. Siemian was inactive for Sunday's loss to the Bengals.

Turnovers have haunted the team all season. The Broncos have committed 23 turnovers this season, second-worst in the NFL, including 17 during the losing streak.

They turned the ball over twice in Sunday's 20-17 loss to the Bengals. It was the first time Cincinnati won in Denver since 1975.

They also are 29th in red-zone touchdown percentage at 45.5 percent, 25th in fourth-down percentage and 25th with 31 sacks allowed.

An Osweiler interception was returned 100 yards and nearly for a touchdown in the first quarter against the Bengals.

Early in the fourth quarter and trailing, 13-10, C.J. Anderson fumbled and the Bengals recovered. Cincinnati scored a touchdown six plays later to go ahead, 20-10.

McCoy was in his second stint as offensive coordinator with the Broncos, serving in the role from 2009 to 2012 before leaving to become coach of the San Diego Chargers for four seasons.